Motion control method for dual-spindle machining, dual-spindle machining apparatus and computer program product

Abstract

The present application discloses a motion control method for dual-spindle machining and a dual-spindle machine apparatus. A control device performs data reconstruction of segmentation and checkpoint setting according to first and second data, respectively, to correspondingly form first and second instruction sequences, thereby simultaneously controlling two motion control cards, allowing two machining devices coupled at a back end of the motion control cards to perform machining on two opposite sides of a workpiece. With the checkpoints arranged in the instruction sequences, the machining devices each having one machining tool are provided with a collaboration mechanism, so that the control device is allowed to continue sending instructions of the next segment to the two motion control cards upon arrival of both the instruction sequences at the checkpoints. Thus, the simultaneous dual-spindle apparatus not only achieves the feature of high efficiency of single-side separate machining but also provides the feature of dual-side collaboration, solving the issue of damage caused by mutual interference during a synchronous dual-spindle operation.

What is claimed is: 
     
       1. A motion control method for dual-spindle machining, for performing corresponding control on a first machining device and a second machining device on two opposite sides of a workpiece according to first control data and second control data, the first machining device and the second machining device having a first machining tool and a second machining tool moving towards each other in a feed axis so as to perform a machining process on the workpiece; the motion control method comprising:
 a segmentation step of segmenting the first control data into a plurality of first segmented control data, and segmenting the second control data into a plurality of second segmented control data; 
 a checkpoint setting step of inserting a first checkpoint between each adjacent two of first segmented control data to form a first instruction sequence, and inserting a second checkpoint between each adjacent two of second segmented control data to form a second instruction sequence; and 
 a control step of outputting the first instruction sequence to a first motion control card to correspondingly control a first machining device coupled to the first motion control card, and outputting the second instruction sequence to a second motion control card to correspondingly control a second machining device coupled to the second motion control card; the control step comprising a collaboration mechanism, which stops outputting a subsequent instruction upon arrival of the first instruction sequence or the second instruction sequence output at any checkpoint, and controls the two instruction sequences to continue outputting the subsequent instructions to the corresponding motion control cards only upon arrival of one other instruction sequence at any checkpoint. 
 
     
     
       2. The motion control method according to  claim 1 , wherein each control data comprises a plurality of blade number data and corresponding machining route data, and in each segmented control data segmented from the segmentation step, the blade number data in the individual segmented control data is the same. 
     
     
       3. The motion control method according to  claim 1 , applied for controlling a first machining device, a second machining device, and a support having a rotation axis, the support being for supporting the workpiece; the control method comprising: in the control step, the first motion control card is regarded as a host control terminal, the second motion control card is regarded as a slave terminal, rotation control data of the rotation axis is at least one of the first segmented control data, the second motion control card serving as the slave terminal is put to wait upon arrival of the output first instruction sequence at the rotation control data, waiting of the second motion control card is relieved upon completion of the rotation control, and the two instruction sequences are controlled to output the subsequent instructions to the corresponding motion control cards. 
     
     
       4. The motion control method according to  claim 3 , wherein the rotation axis is perpendicular to the feed axis. 
     
     
       5. The motion control method according to  claim 1 , applied for controlling a first machining device, a second machining device, and a support having two rotation axes, the support being for supporting the workpiece; the motion control method comprising: in the control step, the first motion control card is regarded as a host control terminal, the second motion control card is regarded as a slave terminal, rotation control data of the two rotation axes is at least one of the first segmented control data, the second motion control card serving as the slave terminal is put to wait upon arrival of the output first instruction sequence at the rotation control data, waiting of the second motion control card is relieved upon completion of the rotation control, and the two instruction sequences are controlled to output the subsequent instructions to the corresponding motion control cards. 
     
     
       6. The motion control method according to  claim 5 , wherein the two rotation axes are individually perpendicular to the feed axis, and the two rotation axes are perpendicular to each other. 
     
     
       7. A non-transitory computer-readable medium, having stored therein a computer program for controlling dual spindles to simultaneously perform a machining process on a workpiece on two opposite sides of the workpiece; wherein, when the computer program is loaded by a computer, first control data and second control data are input, and the computer program is executed, the motion control method of  claim 1  is implemented. 
     
     
       8. A dual-spindle machining apparatus, performing a machining process on a workpiece according to first control data and second control data, the dual-spindle machining apparatus comprising:
 a support, for fixing the workpiece; 
 a first machining device, arranged on one side of the support, and comprising a first machining tool that is moved on a feed axis; 
 a second machining device, arranged on one other side of the support, and comprising a second machining tool that is moved on the feed axis; 
 a first motion control card, coupled to the first machining device; 
 a second motion control card, coupled to the second machining device; and 
 a control device, individually coupled to the first motion control card and the second motion control card, the control device is configured to segment the first control data into a plurality of first segmented control data and insert a first checkpoint between individual segmented control data to form a first instruction sequence, and to segment the second control data into a plurality of second segmented control data and insert a second checkpoint between individual segmented control data to form a second instruction sequence; the control device further configured to sequentially output the first instruction sequence to the first motion control card to correspondingly control a first machining device, and to sequentially output the second instruction sequence to the second motion control card to correspondingly control the second machining device; wherein, the control device stops outputting a subsequent instruction upon arrival of the output first instruction sequence or second instruction sequence at any checkpoint, and allows the two instruction sequences to continue outputting the subsequent instructions only upon arrival of one other instruction sequence at any checkpoint. 
 
     
     
       9. The dual-spindle machining apparatus according to  claim 8 , wherein each control data comprises a plurality of blade number data and corresponding machining route data, and the control device causes the individual segmented control data to have the same blade number data. 
     
     
       10. The dual-spindle machining apparatus according to  claim 8 , wherein each of the first machining device and the second machining device provides driving capabilities for three axes, so that the first machining tool and the second machining tool have degrees of freedom for moving on the feed axis, a second axis and a third axis. 
     
     
       11. The dual-spindle machining apparatus according to  claim 10 , wherein any two of the feed axis, the second axis and the third axis are perpendicular to each other. 
     
     
       12. The dual-spindle machining apparatus according to  claim 10 , wherein the first machining device further provides a driving capability for a fourth axis, so that the support has a degree of freedom for rotating on the fourth axis. 
     
     
       13. The dual-spindle machining apparatus according to  claim 12 , wherein the fourth axis is perpendicular to the feed axis. 
     
     
       14. The dual-spindle machining apparatus according to  claim 12 , wherein the control device configures rotation control data of the fourth axis to be at least one of the first segmented control data, and puts the second motion control card to wait upon arrival of the first instruction sequence output by the control device at rotation control of the fourth axis; and the control device relieves waiting of the second motion control card upon execution completion of the rotation control, and allows the two instruction sequences to continue outputting the subsequent instructions. 
     
     
       15. The dual-spindle machining apparatus according to  claim 12 , wherein the first machining device further provides a driving capability for a fifth axis, so that the support has a degree of freedom for rotating on the fifth axis, wherein the fifth axis is perpendicular to the fourth axis. 
     
     
       16. The dual-spindle machining apparatus according to  claim 15 , wherein the control device configures rotation control data of the fourth axis and the fifth axis to be at least one of the first segmented control data, and puts the second motion control card to wait upon arrival of the first instruction sequence output by the control device at rotation control of the fourth axis or the fifth axis; and the control device relieves waiting of the second motion control card upon execution completion of the rotation control, and allows the two instruction sequences to continue outputting the subsequent instructions.